CN114863706B - Highway-oriented vehicle-road collaborative automatic driving simulation test system and method - Google Patents
Highway-oriented vehicle-road collaborative automatic driving simulation test system and method Download PDFInfo
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Abstract
The invention discloses a highway-oriented vehicle-road collaborative automatic driving simulation test system and a highway-oriented vehicle-road collaborative automatic driving simulation test method. The simulation test system replaces expressway road test through the road of a closed test field and virtual simulation test software test, can completely make up for the defect of road test of a real vehicle, can save a large amount of financial resources and manpower, is high in efficiency, and can also guarantee safety.
Description
Technical Field
The invention relates to the technical field of intelligent traffic and automatic driving vehicle-road cooperation, in particular to a vehicle-road cooperation automatic driving simulation test system and method for a highway.
Background
The intelligent traffic system is an important technical means for relieving traffic jam and ensuring traffic safety. With the rapid development of new generation information technologies such as artificial intelligence, mobile interconnection, big data and the like, a new generation intelligent traffic system with automatic driving as a main characteristic gradually becomes a break for solving traffic problems. The vehicle-road cooperative system is one of important research directions and key technologies of intelligent traffic systems in recent years, and has become an important technical means for solving various traffic problems such as traffic safety, traffic efficiency and the like. The vehicle-road cooperation is realized by adopting advanced wireless communication, new generation internet and other technologies, the dynamic real-time information interaction among vehicles, roads and vehicles and people is realized in all directions, the active safety control of the vehicles and the road cooperation management are carried out on the basis of the full-time empty dynamic traffic information acquisition and fusion, the effective cooperation of the vehicles and the vehicles is fully realized, the traffic safety is ensured, the traffic efficiency is improved, and a safe, efficient and environment-friendly road traffic system is formed.
The expressway of China basically belongs to a closed road, is not influenced by pedestrians compared with an urban open road, has a simple traffic environment, has a flatter pavement compared with municipal road surfaces, curves and crossing roads, has simple lane lines, and has perfect electromechanical communication facilities at the expressway side, and the expressway is an advantage of realizing cooperative automatic driving of the expressway in the first place. The intelligent network-connected automobile is required to run on a road at a high speed, the safety of the intelligent network-connected automobile is required to be verified, in the current automatic driving test method, the road condition required by the automobile-road cooperative test is high mainly in a specific road test, if the real automobile test risk of the expressway is high, the intelligent test limitation on the intelligent network-connected test automobile is high, the automobile-road cooperative automatic driving test has high road condition requirements and related traffic supporting facility requirements, a relatively perfect road network system and an automobile-road communication hardware system are required, the construction cost is high, some dangerous scenes and boundary scenes cannot be met in the real automobile test, and meanwhile, weather and illumination systems and the like can also form great influence on the test.
Disclosure of Invention
The invention aims to solve the problems of safety, functional limitation, operability and the like when an intelligent network-connected vehicle performs road-oriented automatic driving on-road real vehicle test on a highway, and provides a road-oriented automatic driving simulation test system.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a highway-oriented vehicle-road collaborative automatic driving simulation test system comprises a real physical unit system, a virtual reality test system and a communication network system for providing data communication and network transmission between the real physical unit system and the virtual reality test system;
the real physical unit system includes:
the intelligent network connection test vehicle is provided with an OBU vehicle-mounted unit to realize the receiving and transmitting of vehicle-mounted sensing data;
the closed test site road is used for enabling the intelligent network connection test vehicle to execute decision test after receiving the virtual reality test system scene information;
the expressway road side intelligent facility is used for collecting road side environment sensing information and transmitting the information to the OBU vehicle-mounted unit of the intelligent network connection test vehicle;
the virtual reality testing system includes:
the expressway map acquisition module is used for acquiring the vector road network, the satellite image map and the satellite elevation data of the expressway to be detected;
the system comprises a terrain environment construction module, a virtual simulation test software and a control module, wherein the terrain environment construction module is used for constructing a highway terrain environment and importing the highway terrain environment into the virtual simulation test software, and the virtual simulation test software is arranged in an upper computer;
the vehicle twinning module is used for mapping the intelligent network connection test vehicle into the virtual simulation test software so as to construct a twinning vehicle which is the same as the intelligent network connection test vehicle in the virtual simulation test software, and has the function of converting longitude and latitude coordinates of the intelligent network connection test vehicle in the closed test site road into coordinates of the twinning vehicle in the expressway topography environment;
and the traffic scene module is used for constructing a virtual traffic environment and a meteorological state in the virtual simulation test software.
Preferably, the intelligent network connection test vehicle is provided with GNSS and IMU positioning equipment so as to realize high-precision positioning of the intelligent network connection test vehicle.
Preferably, the method for converting and calibrating longitude and latitude coordinates of the intelligent network combined test vehicle in the closed test site road to coordinates of the twin vehicle in the expressway terrain environment comprises the following steps:
and X and Y are two-dimensional coordinates of the twin vehicle in the highway topography environment, X and Y are two-dimensional coordinates of the intelligent network joint test vehicle in the closed test site road, A is a scaling matrix, and B is an offset vector.
Preferably, the expressway road side intelligent facility comprises a variable information board and an RSU road side unit, and the RSU road side unit is in communication connection with the OBU vehicle-mounted unit.
Preferably, the communication network system includes:
the vehicle end communication module is arranged on the intelligent network connection test vehicle and is used for receiving vehicle running state information collected by the OBU vehicle-mounted unit;
the highway side communication module is arranged in the highway side intelligent facility or is in communication connection with the highway side intelligent facility and is used for receiving the highway side intelligent facility information;
the upper computer communication module is arranged in the upper computer and is respectively connected with the vehicle-end communication module, the road side communication module and the virtual reality test system, and the upper computer communication module is used for receiving the vehicle-end communication module information and the road test communication module information, processing the received information and then sending the processed information to the virtual reality test system, and simultaneously receiving the virtual reality test system information and returning the information to the intelligent network connection test vehicle through the vehicle-end communication module.
Further, the upper computer communication module receives the position information of the twin vehicle in the vehicle twin module and the perception information of the twin vehicle, and sends the position information and the perception information of the twin vehicle to the vehicle-end communication module.
Further, the upper computer communication module receives the virtual environment information constructed by the traffic scene module and sends the virtual environment information to the vehicle-end communication module.
Further, the vehicle-end communication module is connected with the road side communication module through LTE-V, the vehicle-end communication module is connected with the upper computer communication module through WIFI/Ethernet, the road side communication module is communicated with the upper computer communication module through a serial port, and the upper computer communication module is communicated with the virtual reality test system through TCP protocol.
The invention also provides a highway-oriented vehicle-road collaborative automatic driving simulation test method, which comprises the following steps:
step S1: acquiring highway road network information through a virtual reality test system, matching satellite elevation data, constructing highway topography environment, and importing the highway topography environment into virtual simulation test software;
step S2: constructing a twin vehicle which is the same as an intelligent network connection test vehicle through the virtual reality test system, and converting and calibrating the starting point coordinates of the intelligent network connection test vehicle in a road of a closed test site and the coordinates of the twin vehicle in the highway topography environment;
step S3: the real physical unit system sends pose state information and road side information of the intelligent network vehicle to the virtual reality testing system in real time through a communication network system;
step S4: the position of the twin vehicle in the virtual reality testing system is updated in real time through a conversion matrix after the twin vehicle receives pose information, and meanwhile, the virtual reality testing system receives road side information and updates a variable information board in a traffic scene module;
step S5: setting a traffic scene through the traffic scene module in the virtual reality test system, enabling a twinned vehicle to trigger the traffic scene, and transmitting a sensing signal back to the intelligent network connection test vehicle through the communication network system;
step S6: and the intelligent network connection test vehicle receives the sensing signal, and returns to the step S3 after decision control test is carried out.
Preferably, step S3 and step S5 may be performed simultaneously.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the highway-oriented vehicle-road collaborative automatic driving simulation test system can truly restore a highway test scene through virtual simulation test, and when in test, the intelligent network connection test vehicle is enabled to test the control execution system after receiving environmental information in the virtual reality test system in the closed test site road, and the highway road test is replaced by the closed test site road and virtual simulation test software test, so that the defect of real vehicle road test can be completely made up, a large amount of financial resources and manpower can be saved, the efficiency is high, and the safety is ensured.
Drawings
FIG. 1 is a schematic diagram of a frame of a highway-oriented vehicle-road collaborative automatic driving simulation test system according to the present embodiment;
fig. 2 is a flow chart of a vehicle-road collaborative automatic driving simulation test method for a highway according to the embodiment.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Example 1
The embodiment is a highway-oriented vehicle-road collaborative automatic driving simulation test system, which comprises a real physical unit system, a virtual reality test system and a communication network system, as shown in fig. 1.
The real physical unit system is a test physical unit entity and comprises intelligent network connection test vehicles, closed test site roads and expressway road side intelligent facilities.
The intelligent network connection test vehicle is a physical entity vehicle. The intelligent network allies oneself with the on-vehicle unit of test car on-vehicle OBU to realize the receiving and dispatching of on-vehicle sensing data. The intelligent network connection test vehicle is also provided with GNSS and IMU positioning equipment so as to realize high-precision positioning of the intelligent network connection test vehicle in the test process.
The closed test site road is used for executing decision test after the intelligent network connection test vehicle receives the virtual reality test system scene information. In the application, the road of the closed test field is a common closed test field, and the requirements of the closed test field in the prior art are met.
The expressway road side intelligent facility is arranged on the road side of the road of the closed test field and used for collecting road side environment sensing information and transmitting the collected information to an OBU vehicle-mounted unit of the intelligent network connection test vehicle. The highway roadside intelligent facility comprises a variable information board and an RSU roadside unit. The variable information board is used for displaying the driving environment which is changed in front of the intelligent network connection test vehicle due to weather, natural disasters, traffic accidents and the like in real time. In this embodiment, the variable information panel information is manually input. And the RSU road side unit is communicated with the OBU vehicle-mounted unit of the intelligent network joint test vehicle, so that vehicle identity recognition is realized.
The virtual reality testing system is arranged in the upper computer and is used for constructing a map of the expressway to be detected, road side signals, twin vehicles and setting traffic scenes in the virtual simulation testing software.
The virtual simulation test software can be SCANeR Studio, but other simulation test software can be adopted, and the virtual simulation test software is installed in the upper computer.
The virtual reality testing system comprises a highway map acquisition module, a terrain environment construction module, a vehicle twinning module and a traffic scene module.
The expressway map acquisition module is used for acquiring the to-be-detected expressway OSM vector road network, the satellite image map and satellite elevation DEM data.
The terrain environment construction module is used for constructing the highway terrain environment in the virtual simulation test software. The specific construction method comprises the following steps:
and importing the expressway OSM vector road network and the satellite image map obtained by the expressway map obtaining module into GIS professional software, carrying out matching correction, and representing the fluctuation of the road by matching with satellite elevation DEM data to obtain a basic terrain model. The highway pavement materials, the surrounding guardrails and other building environments are rapidly and dynamically modeled in a regular modeling mode through specific modeling software, the three-dimensional rendering software is used for rendering the terrain environment, the highway terrain environment is finally formed, and specific format data are generated and imported into virtual simulation test software.
In this embodiment, the GIS specialized software is one of QGIS or AreGIS, the specific rule modeling software is citylengine, and the three-dimensional rendering software is UE4.
The vehicle twinning module is used for mapping the physical entity vehicle into the virtual simulation test software to realize the digital expression of the physical entity vehicle in the virtual reality test system, namely, constructing a twinning vehicle which is the same as the intelligent network alliance test vehicle in the virtual simulation test software. The construction of the twin vehicle in the virtual simulation test software may employ a construction method of a vehicle model in the prior art.
The vehicle twin module has the function of converting longitude and latitude coordinates of the intelligent network combined test vehicle in the closed test site road into coordinates of the twin vehicle in the expressway terrain environment of the virtual simulation test software, so that the position of the intelligent network combined test vehicle in the closed test site road can correspond to the position of the twin vehicle in the expressway terrain environment, and the intelligent network combined test vehicle can simulate the running characteristic of the intelligent network combined test vehicle on the expressway by testing the intelligent network combined test vehicle in the closed test site road, thereby improving the safety performance of the test.
The specific coordinate conversion calibration method comprises the following steps:
wherein X and Y are two-dimensional coordinates of the twin vehicle in the expressway terrain environment of the virtual simulation test software, X and Y are two-dimensional coordinates of the intelligent network connection test vehicle in the road of the closed test field in the real physical unit system, A is a scaling matrix, and B is an offset vector. A, B can be calculated by selecting three corresponding sets of position coordinates.
The traffic scene module is used for constructing a virtual traffic environment and a meteorological state in the virtual simulation test software, so that a virtual test perception environment is provided for the physical entity vehicle, and the virtual test perception environment achieves the simulation degree of the real world. The traffic environment refers to reasonable traffic flow information and surrounding traffic vehicle behavior. Meteorological state refers to simulating weather conditions, time variations, and light and shadow variations at different times in a real environment.
The communication network system provides data communication and network transmission between the real physical unit system and the virtual reality test system, so that a complete test closed loop is formed.
The communication network system comprises a vehicle-end communication module, a road side communication module and an upper computer communication module.
The vehicle-end communication module is arranged on the intelligent network joint test vehicle, and is connected with the expressway road side intelligent facility and used for receiving road side intelligent facility information.
The vehicle-end communication module can be a module which is arranged independently, and can also be integrated in an OBU vehicle-mounted unit.
The roadside communication module can be independently arranged and can communicate with the expressway roadside intelligent facilities; the intelligent device can also be integrated and arranged in the intelligent facility on the road side of the expressway.
The upper computer communication module is arranged in the upper computer and is respectively connected with the vehicle-end communication module, the road side communication module and the virtual reality testing system. The upper computer communication module is used for receiving the information of the vehicle-end communication module and the information of the drive test communication module, synchronously processing the received information and then sending the processed information to the virtual reality test system. And the upper computer communication module transmits back the vehicle and environment sensing information in the virtual reality test system to the vehicle-end communication module, so that the intelligent network connection test vehicle can carry out corresponding execution decision according to the received information.
Specifically, the vehicle-end communication module sends the running state information of the intelligent network connection test vehicle collected by the OBU vehicle-mounted unit to the upper computer communication module, wherein the running state information of the intelligent network connection test vehicle comprises information such as the position and the speed of the intelligent network connection test vehicle, and the upper computer communication module receives corresponding information and sends the corresponding information to the virtual reality test system so that the twin vehicle updates the running state. Meanwhile, the upper computer communication module receives the twin vehicle position information and the twin vehicle perception information in the vehicle twin module, and sends the twin vehicle position information and the twin vehicle perception information to the vehicle end communication module to control the intelligent network test vehicle to execute a decision.
The road side communication module sends the variable information board information and road side perception information to the upper computer communication module, and the upper computer communication module receives and sends corresponding information to the virtual reality test system, so that the twin vehicle performs corresponding actions according to the corresponding information, and the variable information board in the traffic scene module is updated.
The virtual environment information constructed by the traffic scene module in the virtual reality test system can be sent to the upper computer communication module, and the upper computer communication module receives the corresponding information and then sends the corresponding information to the vehicle-end communication module to control the intelligent network connection test vehicle to execute decision.
In this embodiment, the vehicle-end communication module and the road side communication module are connected through LTE-V, the vehicle-end communication module and the upper computer communication module are connected through WIFI/ethernet, the road side communication module and the upper computer communication module are communicated through serial ports, and the upper computer communication module and the virtual reality test system are communicated through TCP protocol.
Example two
The embodiment provides a highway-oriented vehicle-road collaborative automatic driving simulation test method, which is used for realizing highway vehicle-road collaborative automatic driving simulation test, wherein the test flow is shown in fig. 2, and specifically comprises the following steps:
(1) The method comprises the steps of obtaining highway road network information through a highway map obtaining module of a virtual reality testing system, matching satellite elevation DEM data, constructing a highway terrain environment through a terrain environment constructing module of the virtual reality testing system, and importing the highway terrain environment into virtual simulation testing software.
(2) The vehicle twinning module of the virtual reality test system is used for constructing a twinning vehicle which is the same as the intelligent network connection test vehicle in virtual simulation test software, and converting and calibrating the starting point coordinates of the intelligent network connection test vehicle in a road of a closed test site and the coordinates of the twinning vehicle in a highway topography environment.
(3) The real physical unit system sends the intelligent network connection test vehicle pose state information and road side information to the virtual reality test system in real time through the communication network system.
The method comprises the following steps: the vehicle-end communication module sends the running state information of the intelligent network connection test vehicle collected by the OBU vehicle-mounted unit to the upper computer communication module, and the upper computer communication module receives the corresponding information and sends the corresponding information to the virtual reality test system; the road side communication module sends the variable information board information and road side perception information to the upper computer communication module, and the upper computer communication module receives the corresponding information and sends the corresponding information to the virtual reality test system.
(4) After receiving pose information, the twin vehicles in the virtual reality test system update the positions in real time through a conversion matrix. And after receiving the road side information, the virtual reality testing system updates the variable information board in the traffic scene module.
(5) The traffic scene is set through the traffic scene module in the virtual reality test system, and after the corresponding traffic scene is triggered by the twin vehicle, the sensing signal is transmitted back to the upper computer communication module and is transmitted to the vehicle end communication module, so that the sensing signal is transmitted back to the intelligent network connection test vehicle.
(6) And (3) receiving a sensing signal by an intelligent network connection test vehicle in the real physical unit system, performing decision control test, and returning to the step (3) so as to form a complete test closed loop.
In the above steps, the step (3) and the step (5) may be performed simultaneously.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. A highway-oriented vehicle-road collaborative automatic driving simulation test system is characterized in that: the system comprises a real physical unit system, a virtual reality testing system and a communication network system for providing data communication and network transmission between the real physical unit system and the virtual reality testing system;
the real physical unit system includes:
the intelligent network connection test vehicle is provided with an OBU vehicle-mounted unit to realize the receiving and transmitting of vehicle-mounted sensing data;
the closed test site road is used for enabling the intelligent network connection test vehicle to execute decision test after receiving the virtual reality test system scene information;
the intelligent expressway road side facility is used for collecting road side environment sensing information and transmitting the road side environment sensing information to the OBU vehicle-mounted unit of the intelligent network connection test vehicle, and comprises a variable information board and an RSU road side unit which is in communication connection with the OBU vehicle-mounted unit;
the virtual reality testing system includes:
the expressway map acquisition module is used for acquiring the vector road network, the satellite image map and the satellite elevation data of the expressway to be detected;
the system comprises a terrain environment construction module, a virtual simulation test software and a control module, wherein the terrain environment construction module is used for constructing a highway terrain environment and importing the highway terrain environment into the virtual simulation test software, and the virtual simulation test software is arranged in an upper computer;
the vehicle twinning module is used for mapping the intelligent network alliance test vehicle into the virtual simulation test software so as to construct a twinning vehicle which is the same as the intelligent network alliance test vehicle in the virtual simulation test software, the vehicle twinning module has the function of enabling the longitude and latitude coordinates of the intelligent network alliance test vehicle in the closed test site road to be converted into the coordinates of the twinning vehicle in the expressway terrain environment, and the calibration method for converting the longitude and latitude coordinates of the intelligent network alliance test vehicle in the closed test site road to the coordinates of the twinning vehicle in the expressway terrain environment is as follows:
the X and Y are two-dimensional coordinates of the twin vehicle in the highway topography environment, the X and Y are two-dimensional coordinates of the intelligent network joint test vehicle in the closed test site road, A is a scaling matrix, and B is an offset vector;
the traffic scene module is used for constructing a virtual traffic environment and a meteorological state in the virtual simulation test software;
the communication network system includes:
the vehicle end communication module is arranged on the intelligent network connection test vehicle and is used for receiving vehicle running state information collected by the OBU vehicle-mounted unit;
the highway side communication module is arranged in the highway side intelligent facility or is in communication connection with the highway side intelligent facility and is used for receiving the highway side intelligent facility information;
the upper computer communication module is arranged in the upper computer and is respectively connected with the vehicle-end communication module, the road side communication module and the virtual reality test system, and the upper computer communication module is used for receiving the vehicle-end communication module information and the road side communication module information, processing the received information and then sending the processed information to the virtual reality test system, and the upper computer communication module simultaneously receives the virtual reality test system information and returns the information to the intelligent network connection test vehicle through the vehicle-end communication module.
2. The highway-oriented vehicle-road cooperative automatic driving simulation test system according to claim 1, wherein: the intelligent network connection test vehicle is provided with GNSS and IMU positioning equipment so as to realize high-precision positioning of the intelligent network connection test vehicle.
3. The highway-oriented vehicle-road cooperative automatic driving simulation test system according to claim 1, wherein: the upper computer communication module receives the position information of the twin vehicles in the vehicle twin module and the perception information of the twin vehicles and sends the position information and the perception information of the twin vehicles to the vehicle-end communication module.
4. The highway-oriented vehicle-road cooperative automatic driving simulation test system according to claim 1, wherein: and the upper computer communication module receives the virtual environment information constructed by the traffic scene module and sends the virtual environment information to the vehicle-end communication module.
5. The highway-oriented vehicle-road cooperative automatic driving simulation test system according to claim 1, wherein: the system comprises a vehicle-end communication module, a road-side communication module, a virtual reality test system, a communication system and a communication system, wherein the vehicle-end communication module is connected with the road-side communication module through LTE-V, the vehicle-end communication module is connected with the upper computer communication module through WIFI/Ethernet, the road-side communication module is communicated with the upper computer communication module through a serial port, and the upper computer communication module is communicated with the virtual reality test system through TCP protocol.
6. A highway-oriented vehicle-road collaborative automatic driving simulation test method is characterized by comprising the following steps of: the expressway-oriented vehicle-road cooperation automatic driving simulation test system according to any one of claims 1 to 5, comprising the following steps:
step S1: acquiring highway road network information through a virtual reality test system, matching satellite elevation data, constructing highway topography environment, and importing the highway topography environment into virtual simulation test software;
step S2: constructing a twin vehicle which is the same as an intelligent network connection test vehicle through the virtual reality test system, and converting and calibrating the starting point coordinates of the intelligent network connection test vehicle in a road of a closed test site and the coordinates of the twin vehicle in the highway topography environment;
step S3: the real physical unit system sends pose state information and road side information of the intelligent network vehicle to the virtual reality testing system in real time through a communication network system;
step S4: the position of the twin vehicle in the virtual reality testing system is updated in real time through a conversion matrix after the twin vehicle receives pose information, and meanwhile, the virtual reality testing system receives road side information and updates a variable information board in a traffic scene module;
step S5: setting a traffic scene through the traffic scene module in the virtual reality test system, enabling a twinned vehicle to trigger the traffic scene, and transmitting a sensing signal back to the intelligent network connection test vehicle through the communication network system;
step S6: and the intelligent network connection test vehicle receives the sensing signal, and returns to the step S3 after decision control test is carried out.
7. The highway-oriented vehicle-road cooperative automatic driving simulation test method according to claim 6, wherein the method is characterized by comprising the following steps of: step S3 and step S5 may be performed simultaneously.
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